<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "http://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=9"/>
<meta name="generator" content="Doxygen 1.8.11"/>
<title>YDLIDAR SDK: /home/yang/lidar_ws/src/sdk/include/CYdLidar.h Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<script type="text/javascript">
  $(document).ready(function() { init_search(); });
</script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr style="height: 56px;">
  <td id="projectlogo"><img alt="Logo" src="ydliar.png"/></td>
  <td id="projectalign" style="padding-left: 0.5em;">
   <div id="projectname">YDLIDAR SDK
   &#160;<span id="projectnumber">V1.4.5</span>
   </div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.8.11 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
  <div id="navrow1" class="tabs">
    <ul class="tablist">
      <li><a href="index.html"><span>Main&#160;Page</span></a></li>
      <li><a href="pages.html"><span>Related&#160;Pages</span></a></li>
      <li><a href="namespaces.html"><span>Namespaces</span></a></li>
      <li><a href="annotated.html"><span>Classes</span></a></li>
      <li class="current"><a href="files.html"><span>Files</span></a></li>
      <li>
        <div id="MSearchBox" class="MSearchBoxInactive">
        <span class="left">
          <img id="MSearchSelect" src="search/mag_sel.png"
               onmouseover="return searchBox.OnSearchSelectShow()"
               onmouseout="return searchBox.OnSearchSelectHide()"
               alt=""/>
          <input type="text" id="MSearchField" value="Search" accesskey="S"
               onfocus="searchBox.OnSearchFieldFocus(true)" 
               onblur="searchBox.OnSearchFieldFocus(false)" 
               onkeyup="searchBox.OnSearchFieldChange(event)"/>
          </span><span class="right">
            <a id="MSearchClose" href="javascript:searchBox.CloseResultsWindow()"><img id="MSearchCloseImg" border="0" src="search/close.png" alt=""/></a>
          </span>
        </div>
      </li>
    </ul>
  </div>
  <div id="navrow2" class="tabs2">
    <ul class="tablist">
      <li><a href="files.html"><span>File&#160;List</span></a></li>
    </ul>
  </div>
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<iframe src="javascript:void(0)" frameborder="0" 
        name="MSearchResults" id="MSearchResults">
</iframe>
</div>

<div id="nav-path" class="navpath">
  <ul>
<li class="navelem"><a class="el" href="dir_d44c64559bbebec7f509842c48db8b23.html">include</a></li>  </ul>
</div>
</div><!-- top -->
<div class="header">
  <div class="headertitle">
<div class="title">CYdLidar.h</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*********************************************************************</span></div><div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">* Software License Agreement (BSD License)</span></div><div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">*</span></div><div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">*  Copyright (c) 2018, EAIBOT, Inc.</span></div><div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">*  All rights reserved.</span></div><div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment">*</span></div><div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment">*  Redistribution and use in source and binary forms, with or without</span></div><div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment">*  modification, are permitted provided that the following conditions</span></div><div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">*  are met:</span></div><div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment">*</span></div><div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment">*   * Redistributions of source code must retain the above copyright</span></div><div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment">*     notice, this list of conditions and the following disclaimer.</span></div><div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment">*   * Redistributions in binary form must reproduce the above</span></div><div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment">*     copyright notice, this list of conditions and the following</span></div><div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment">*     disclaimer in the documentation and/or other materials provided</span></div><div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment">*     with the distribution.</span></div><div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment">*   * Neither the name of the Willow Garage nor the names of its</span></div><div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment">*     contributors may be used to endorse or promote products derived</span></div><div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment">*     from this software without specific prior written permission.</span></div><div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment">*</span></div><div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment">*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div><div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment">*  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div><div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment">*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div><div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment">*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div><div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment">*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div><div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment">*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div><div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment">*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div><div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment">*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div><div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment">*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div><div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment">*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div><div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment">*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div><div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment">*  POSSIBILITY OF SUCH DAMAGE.</span></div><div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment">*********************************************************************/</span></div><div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="preprocessor">#pragma once</span></div><div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="preprocessor">#include &quot;utils.h&quot;</span></div><div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="preprocessor">#include &quot;ydlidar_driver.h&quot;</span></div><div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="preprocessor">#include &lt;math.h&gt;</span></div><div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;</div><div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="keyword">using namespace </span><a class="code" href="namespaceydlidar.html">ydlidar</a>;</div><div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;</div><div class="line"><a name="l00041"></a><span class="lineno"><a class="line" href="class_c_yd_lidar.html">   41</a></span>&#160;<span class="keyword">class </span>YDLIDAR_API <a class="code" href="class_c_yd_lidar.html">CYdLidar</a> {</div><div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;  PropertyBuilderByName(<span class="keywordtype">float</span>, MaxRange,</div><div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;                        <span class="keyword">private</span>) </div><div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;  PropertyBuilderByName(<span class="keywordtype">float</span>, MinRange,</div><div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;                        <span class="keyword">private</span>) </div><div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  PropertyBuilderByName(<span class="keywordtype">float</span>, MaxAngle,</div><div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;                        <span class="keyword">private</span>) </div><div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  PropertyBuilderByName(<span class="keywordtype">float</span>, MinAngle,</div><div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;                        <span class="keyword">private</span>) </div><div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;  PropertyBuilderByName(<span class="keywordtype">int</span>, SampleRate,</div><div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;                        <span class="keyword">private</span>) </div><div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  PropertyBuilderByName(<span class="keywordtype">float</span>, ScanFrequency,</div><div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;                        <span class="keyword">private</span>) </div><div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  PropertyBuilderByName(<span class="keywordtype">bool</span>, FixedResolution,</div><div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;                        <span class="keyword">private</span>) </div><div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  PropertyBuilderByName(<span class="keywordtype">bool</span>, Reversion,</div><div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;                        <span class="keyword">private</span>) </div><div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  PropertyBuilderByName(<span class="keywordtype">bool</span>, Inverted,</div><div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;                        <span class="keyword">private</span>)</div><div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  PropertyBuilderByName(<span class="keywordtype">bool</span>, AutoReconnect,</div><div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;                        <span class="keyword">private</span>) </div><div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  PropertyBuilderByName(<span class="keywordtype">int</span>, SerialBaudrate,</div><div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;                        <span class="keyword">private</span>) </div><div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;  PropertyBuilderByName(<span class="keywordtype">int</span>, AbnormalCheckCount,</div><div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;                        <span class="keyword">private</span>) </div><div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  PropertyBuilderByName(std::string, SerialPort,</div><div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;                        <span class="keyword">private</span>) </div><div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  PropertyBuilderByName(std::vector&lt;float&gt;, IgnoreArray,</div><div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;                        <span class="keyword">private</span>) </div><div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  PropertyBuilderByName(<span class="keywordtype">float</span>, OffsetTime,</div><div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;                        <span class="keyword">private</span>) </div><div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  PropertyBuilderByName(<span class="keywordtype">bool</span>, SingleChannel,</div><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;                        <span class="keyword">private</span>) </div><div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;  PropertyBuilderByName(<span class="keywordtype">int</span>, LidarType,</div><div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;                        <span class="keyword">private</span>) </div><div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;</div><div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;</div><div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160; <span class="keyword">public</span>:</div><div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  <a class="code" href="class_c_yd_lidar.html">CYdLidar</a>(); </div><div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  <span class="keyword">virtual</span> ~<a class="code" href="class_c_yd_lidar.html">CYdLidar</a>();  </div><div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;</div><div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  <span class="keywordtype">bool</span> initialize();  </div><div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;</div><div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="comment">// Return true if laser data acquistion succeeds, If it&#39;s not</span></div><div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keywordtype">bool</span> doProcessSimple(<a class="code" href="struct_laser_scan.html">LaserScan</a> &amp;outscan,</div><div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;                       <span class="keywordtype">bool</span> &amp;hardwareError);</div><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;</div><div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  <span class="comment">//Turn on the motor enable</span></div><div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keywordtype">bool</span>  turnOn();  </div><div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;</div><div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  <span class="comment">//Turn off the motor enable and close the scan</span></div><div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;  <span class="keywordtype">bool</span>  turnOff(); </div><div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;</div><div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  <span class="comment">//Turn off lidar connection</span></div><div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  <span class="keywordtype">void</span> disconnecting(); </div><div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;</div><div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  <span class="comment">//get zero angle offset value</span></div><div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keywordtype">float</span> getAngleOffset() <span class="keyword">const</span>;</div><div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;</div><div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <span class="comment">//Whether the zero offset angle is corrected?</span></div><div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keywordtype">bool</span> isAngleOffetCorrected() <span class="keyword">const</span>;</div><div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;</div><div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  std::string getSoftVersion() <span class="keyword">const</span>;</div><div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;</div><div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  std::string getHardwareVersion() <span class="keyword">const</span>;</div><div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;</div><div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  std::string getSerialNumber() <span class="keyword">const</span>;</div><div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;</div><div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; <span class="keyword">protected</span>:</div><div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  <span class="keywordtype">bool</span>  checkCOMMs();</div><div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;</div><div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  <span class="keywordtype">bool</span>  checkStatus();</div><div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;</div><div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;  <span class="keywordtype">bool</span> checkHardware();</div><div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;</div><div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  <span class="keywordtype">bool</span> getDeviceHealth();</div><div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;</div><div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  <span class="keywordtype">bool</span> getDeviceInfo();</div><div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;</div><div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  <span class="keywordtype">void</span> checkSampleRate();</div><div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;</div><div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  <span class="keywordtype">bool</span> CalculateSampleRate(<span class="keywordtype">int</span> count);</div><div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;</div><div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;  <span class="keywordtype">bool</span> checkScanFrequency();</div><div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;</div><div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  <span class="keywordtype">bool</span> checkLidarAbnormal();</div><div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;</div><div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;  <span class="keywordtype">void</span> checkCalibrationAngle(<span class="keyword">const</span> std::string &amp;serialNumber);</div><div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;</div><div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;  <span class="keywordtype">bool</span> isRangeValid(<span class="keywordtype">double</span> reading) <span class="keyword">const</span>;</div><div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;</div><div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;  <span class="keywordtype">bool</span> isRangeIgnore(<span class="keywordtype">double</span> angle) <span class="keyword">const</span>;</div><div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;</div><div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  <span class="keywordtype">void</span> handleSingleChannelDevice();</div><div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;</div><div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  <span class="keywordtype">void</span> parsePackageNode(<span class="keyword">const</span> <a class="code" href="structnode__info.html">node_info</a> &amp;node, <a class="code" href="struct_laser_debug.html">LaserDebug</a> &amp;info);</div><div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;</div><div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;  <span class="keywordtype">void</span> handleDeviceInfoPackage(<span class="keywordtype">int</span> count);</div><div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;</div><div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;  <span class="keywordtype">void</span> printfVersionInfo(<span class="keyword">const</span> <a class="code" href="structdevice__info.html">device_info</a> &amp;info);</div><div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;</div><div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; <span class="keyword">private</span>:</div><div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;  <span class="keywordtype">bool</span>    isScanning;</div><div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  <span class="keywordtype">int</span>     m_FixedSize ;</div><div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  <span class="keywordtype">float</span>   m_AngleOffset;</div><div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;  <span class="keywordtype">bool</span>    m_isAngleOffsetCorrected;</div><div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;  <span class="keywordtype">float</span>   frequencyOffset;</div><div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  <span class="keywordtype">int</span>   lidar_model;</div><div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;  uint8_t Major;</div><div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;  uint8_t Minjor;</div><div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  <a class="code" href="classydlidar_1_1_y_dlidar_driver.html">YDlidarDriver</a> *lidarPtr;</div><div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;  uint64_t m_PointTime;</div><div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;  uint64_t last_node_time;</div><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;  <a class="code" href="structnode__info.html">node_info</a> *global_nodes;</div><div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  std::map&lt;int, int&gt; SampleRateMap;</div><div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  <span class="keywordtype">bool</span> m_ParseSuccess;</div><div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  std::string m_lidarSoftVer;</div><div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;  std::string m_lidarHardVer;</div><div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;  std::string m_lidarSerialNum;</div><div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;};  <span class="comment">// End of class</span></div><div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;</div><div class="ttc" id="namespaceydlidar_html"><div class="ttname"><a href="namespaceydlidar.html">ydlidar</a></div><div class="ttdef"><b>Definition:</b> help_info.h:39</div></div>
<div class="ttc" id="struct_laser_scan_html"><div class="ttname"><a href="struct_laser_scan.html">LaserScan</a></div><div class="ttdef"><b>Definition:</b> ydlidar_protocol.h:309</div></div>
<div class="ttc" id="struct_laser_debug_html"><div class="ttname"><a href="struct_laser_debug.html">LaserDebug</a></div><div class="ttdef"><b>Definition:</b> ydlidar_protocol.h:250</div></div>
<div class="ttc" id="structdevice__info_html"><div class="ttname"><a href="structdevice__info.html">device_info</a></div><div class="ttdef"><b>Definition:</b> ydlidar_protocol.h:172</div></div>
<div class="ttc" id="classydlidar_1_1_y_dlidar_driver_html"><div class="ttname"><a href="classydlidar_1_1_y_dlidar_driver.html">ydlidar::YDlidarDriver</a></div><div class="ttdef"><b>Definition:</b> ydlidar_driver.h:75</div></div>
<div class="ttc" id="class_c_yd_lidar_html"><div class="ttname"><a href="class_c_yd_lidar.html">CYdLidar</a></div><div class="ttdef"><b>Definition:</b> CYdLidar.h:41</div></div>
<div class="ttc" id="structnode__info_html"><div class="ttname"><a href="structnode__info.html">node_info</a></div><div class="ttdef"><b>Definition:</b> ydlidar_protocol.h:135</div></div>
</div><!-- fragment --></div><!-- contents -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
Generated by &#160;<a href="http://www.doxygen.org/index.html">
<img class="footer" src="doxygen.png" alt="doxygen"/>
</a> 1.8.11
</small></address>
</body>
</html>
